"""Motion Reference Handler module."""
# Copyright 2022 Universidad Politécnica de Madrid
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# * Redistributions in binary form must reproduce the above copyright
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# this software without specific prior written permission.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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__authors__ = 'Pedro Arias Pérez, Miguel Fernández Cortizas, David Pérez Saura, Rafael Pérez Seguí'
__copyright__ = 'Copyright (c) 2022 Universidad Politécnica de Madrid'
__license__ = 'BSD-3-Clause'
import typing
from as2_motion_reference_handlers.hover_motion import HoverMotion
from as2_motion_reference_handlers.position_motion import PositionMotion
from as2_motion_reference_handlers.speed_in_a_plane import SpeedInAPlaneMotion
from as2_motion_reference_handlers.speed_motion import SpeedMotion
from as2_python_api.modules.module_base import ModuleBase
from std_srvs.srv import SetBool
if typing.TYPE_CHECKING:
from ..drone_interface import DroneInterface
[docs]
class MotionReferenceHandlerModule(ModuleBase):
"""Motion Reference Handlers module."""
__alias__ = 'motion_ref_handler'
def __init__(self, drone: 'DroneInterface') -> None:
super().__init__(drone, self.__alias__)
self.__drone = drone
# FIXME: temporaly, manually stoping behaviors
self.trajectory_gen_cli = self.__drone.create_client(
SetBool, 'traj_gen/run_node')
if not self.trajectory_gen_cli.wait_for_service(timeout_sec=3):
self.__drone.get_logger().warn('Trajectory generator service not found')
self.trajectory_gen_cli = None
self.__hover_motion_handler = HoverMotion(self.__drone)
self.position = PositionMotion(self.__drone)
self.speed = SpeedMotion(self.__drone)
self.speed_in_a_plane = SpeedInAPlaneMotion(self.__drone)
[docs]
def hover(self) -> None:
"""Stop and hover current position."""
if self.trajectory_gen_cli is not None:
self.__drone.get_logger().info('Calling trajectory generator')
req = SetBool.Request()
req.data = False
resp = self.trajectory_gen_cli.call(req)
if not resp.success:
self.__drone.get_logger().warn('Cannot stop trajectory generator')
self.__hover_motion_handler.send_hover()
self.__drone.get_logger().info('Hover sent')
[docs]
def destroy(self) -> None:
"""Destroy module, clean exit."""
self.__drone.destroy_client(self.trajectory_gen_cli)
self.__hover_motion_handler = None
self.position = None
self.speed = None
self.speed_in_a_plane = None